Balancing wheeled robot

摘要

Inverted pendulum has long been the interest of control engineers. \nThe concept of two wheeled balancing robot is based on the inverted pendulum theory.\nA suitable control system is needed to control the system so that it is balanced and stable. The main purpose of this project is to use a good control strategy to keep the body of the robot upright.\nThis dissertation applies the idea of non-linear control strategy and analyses its effectiveness. The non-linear control strategy requires a good understanding of the\ninverted pendulum system. The knowledge is then implemented in programming to program the microcontroller. This is particularly important in low-level assembly\nlanguage, which is used in this project.